Robot State Planning Method Based on Monte Carlo Tree Search Algorithm
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United States of America Patent
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Aug 31, 2023
app pub date -
Sep 24, 2020
filing date -
Jul 6, 2020
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Abstract
A robot state planning method based on a Monte Carlo tree search algorithm. The method comprises: obtaining an initial state and a target state of a robot (step 100); by using the initial state as a starting node, using a Monte Carlo tree search algorithm to expand a Monte Carlo tree until a generated target node reaches the target state (step 200); and determining a state sequence of the robot according to all nodes from the starting node to the target node (step 300). According to the solution, the overall state in the motion process is planned, and a state sequence is generated; thus, effect of front back coupling caused by planning according to periods can be avoided, and the passing capability of a six-foot robot in a complex terrain is improved.
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